This is what is going on our walker, actual size. Prototyping in cardboard is quick and easy to make sure it works well with no binding while CAD simulations hand waive binding that would break a linkage.
This started off as a rotary slot cam to raise and lower the leg linkage, then moved to an actuating slot cam, then to a double action crank.
Interestingly, this is also the famous Theo Jensen walking linkage...I almost literally reinvented the wheel.
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